├── .gitignore ├── README.md ├── config ├── eval │ └── DrivePi0 │ │ └── base.yaml ├── test_dataloader │ ├── dynamic_camera_eval.yaml │ ├── dynamic_camera_train.yaml │ └── fixed_camera.yaml └── train │ └── DrivePi0 │ └── base.yaml ├── docs ├── drivemoe.json ├── drivepi0.json ├── evaluation.md ├── install.md ├── preprocessing.md └── training.md ├── images ├── example_b.jpg ├── example_bl.jpg ├── example_br.jpg ├── example_f.jpg ├── example_fl.jpg └── example_fr.jpg ├── pyproject.toml ├── script ├── data_preprocessing │ ├── generate_data.sh │ ├── get_statistics.sh │ └── window.sh ├── evaluation │ └── eval_drivepi0.sh ├── run.py ├── set_path.sh └── training │ └── train_drivepi0.sh ├── src ├── agent │ ├── dataset.py │ ├── drivepi0 │ │ ├── eval.py │ │ ├── inference.py │ │ └── train.py │ └── team_code │ │ ├── drivepi0_carla_agent.py │ │ └── planner.py ├── data │ ├── camera_scenario_map.py │ ├── dataset.py │ └── utils │ │ ├── augmentations.py │ │ ├── image.py │ │ └── normalization.py ├── data_processing │ ├── generate_data.py │ ├── get_statistics.py │ ├── utils.py │ └── window.py ├── model │ ├── DrivePi0 │ │ ├── drivepi0.py │ │ ├── joint_model.py │ │ ├── mixture.py │ │ ├── modules.py │ │ └── processing.py │ ├── kv_cache.py │ ├── lora.py │ ├── paligemma │ │ ├── config.py │ │ ├── gemma.py │ │ ├── modules.py │ │ └── siglip.py │ ├── router.py │ └── utils.py └── utils │ ├── decorator.py │ ├── draw_trajectory.py │ ├── metric.py │ ├── monitor.py │ ├── optim.py │ └── pid.py └── statistics.json /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Thinklab-SJTU/DriveMoE/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Thinklab-SJTU/DriveMoE/HEAD/README.md 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